R

BRUSH

SERVO MOTORS

2100 S E R I E S
Series 2100, is a high performance, permanent magnet brush servo motor for use in various industrial direct drive or geared servo systems Rugged industrial construction Continuous torque ratings up to 53 oz.-in. with speeds up to 6500 RPM (no load) Peak torque ratings up to 300 oz.-in.
Performance Benefits
CMC Torque Systems specializes in the design of high performance brush servo motors that provide efficiency, flexibility of application, and a long and trouble-free service life. Our TORQUEMASTER 2100 series is no exception. With fast response, accurate control and high torque-to-inertia ratios, you can count on the TORQUEMASTER 2100 Series of brush servo motors to provide smooth operation throughout a full speed range. The 2100 Series delivers smooth and superior low speed performance, and maximum power ratings with low thermal resistance for high speed performance. In addition, with maximum torque in a smaller package, you can count on better pricing for a better overall value. When integrated with high performance brush amplifiers, TORQUEMASTER 2100 Series brush servo motors provide effective and highly efficient motion control solutions for a wide range of applicationsincluding factory automation, packaging, robotics, machine tools, medical instrumentation and more.

Design Features
TORQUEMASTER 2100 Series brush servo motors are rated from 12 oz.-in. to 53 oz.-in. with speeds and torque stability up to 6500 RPM. They utilize the latest in high performance permanent magnet technology, and are available in eight standard windings (as well as custom windings) to meet your most demanding applications. Each brush servo motor in the TORQUEMASTER 2100 Series is ruggedly designed and manufactured for reliable performance. Motors can be customized to fit your exact application with tachometers, encoders, brakes and other options.

High torque-to-inertia ratio delivers maximum torque per frame size Superior low speed performance Numerous custom options available CE / UL

2100 S E R I E S
SYMBOL
TC TP TF Fi TR JM RTH TTH tm te FC Wt Cont. Torque Peak Torque Static Friction Viscous Friction Cogging Torque Inertia Thermal Res Thermal Time Mech Time Elect Time Commutation Weight

BRUSH SERVO MOTOR CHARACTERISTICS

UNITS
Oz-In Oz-In Oz-In Oz-In/KRPM Oz-In Oz-In-sec2 Deg C/watt Minute Millisec Millisec Factor Lbs

2105
12 50 3 0.2 0.2 0.0018 6.9 10 24.3 1.6 488 1.9

2110
18 100 3 0.3 0.3 0.0031 6.2 10 12.19 1.9 722 2.9

2115
30 150 3 0.3 0.5 0.0044 5 15 8.62 2.1 1260 3.1

2120
38 200 3 0.4 0.5 0.0057 4.5 15 8.07 2.1 1548 3.3

2130
53 300 3 0.5 0.5 0.0083 3.8 20 7.20 2.2 2116 4.3

Note: All values at 25C Ambient.

WINDING
A KT RA KV FC/KT B KT RA KV FC/KT C KT RA KV FC/KT D KT RA KV FC /KT E KT RA KV FC /KT F KT RA KV FC /KT G KT RA KV FC /KT H KT RA KV FC /KT Torq. Sens. Arm. Resis. Back E.M.F Pb Torq. Sens. Arm. Resis. Back E.M.F Pb Torq. Sens. Arm. Resis. Back E.M.F Pb Torq. Sens. Arm. Resis. Back E.M.F Pb Torq. Sens. Arm. Resis. Back E.M.F Pb Torq. Sens. Arm. Resis. Back E.M.F Pb Torq. Sens. Arm. Resis. Back E.M.F Pb Torq. Sens. Arm. Resis. Back E.M.F Pb Oz-In/Amp Ohms Volts/KRPM Watts Oz-In/Amp Ohms Volts/KRPM Watts Oz-In/Amp Ohms Volts/KRPM Watts Oz-In/Amp Ohms Volts/KRPM Watts Oz-In/Amp Ohms Volts/KRPM Watts Oz-In/Amp Ohms Volts/RPM Watts Oz-In/Amp Ohms Volts/KRPM Watts Oz-In/Amp Ohms Volts/KRPM Watts 2.27 0.29 1.7 215 2.77 0.44 2 176 3.53 0.70 2.6 138 4.41 1.13 3.3 111 5.54 1.77 4.1 88 6.93 2.78 5.1 70 8.57 4.31 6.3 57 10.71 6.84 7.9 46 3.8 0.40 2.8 190 4.7 0.61 3.5 154 5.9 0.97 4.4 122 7.4 1.52 5.5 98 9.3 2.40 6.9 78 11.7 3.80 8.6 62 14.4 5.76 10.6 50 18 9.00 13.3 40 6.12 0.52 4.5 206 7.48 0.77 5.5 168 9.52 1.25 7.0 132 11.9 1.96 8.8 106 15 3.11 11.1 84 18.7 4.84 13.8 67 23 7.32 17.0 55 29 11.64 21.4 43 7.74 0.60 5.7 200 9.46 0.89 7.0 164 12 1.44 8.9 129 15 2.25 11.1 103 19 3.61 14.0 81 23.6 5.57 17.4 66 29 8.41 21.4 53 36 12.96 26.6 43 11.2 0.80 8.3 189 13.6 1.18 10.1 156 17.3 1.92 12.8 122 21.7 3.01 16.0 98 27 4.67 20.0 78 34 7.40 25.1 62 42 11.29 31.0 50 52 17.31 38.4 41

Note: Continuous torque specifications obtained with motor mounted to an 10" x 10" x 0.25" alum. plate at 25 C ambient. Typical values are within 10% of rating.

For custom designs please consult factory. All specifications subject to change without notice.

2100 S E R I E S

MECHANICAL SPECIFICATIONS*

AF

DIMENSION CHART*
MOTOR AG AG
Motor Tach Inches (Metric) 4.60 (116.8) 5.10 (129.5) 5.60 (142.2) 6.10 (154.9) 7.10 (180.3) STD .3750/.3745 .3750/.3745 .3750/.3745 .3750/.3745 .3750/.3745

U DIA.
NEMA .2500/.2495 .2500/.2495 .2500/.2495 .2500/.2495 .2500/.2495 STD 1.00 1.00 1.00 1.00 1.00

AH
NEMA 0.77 0.77 0.77 0.77 0.77

AK
STD 1.000 1.000 1.000 1.000 1.000

AF
NEMA 1.500 1.500 1.500 1.500 1.500

BB
STD 0.10 0.10 0.10 0.10 0.10 NEMA 0.06 0.06 0.06 0.06 0.06

Motor Only Inches (Metric) 2105 2110 2115 2120 2130 3.13 (79.5) 3.63 (92.2) 4.13 (104.9) 4.63 (117.6) 5.63 (143.0)

METRIC (mm): DIMENSIONS ALL FRAME SIZES SHAFT: DIA 8j6 MOUNTING: PILOT LENGTH 25.0 B.C. HOLE SIZE

TORQUE PERFORMANCE CURVES NOTE: Continuous torque specifications obtained with motor mounted to

25.0 38.89 M4

SPEED

an 10x10x.25 aluminum plate at 25 C ambient. Typical values are within 10% of rating. STANDARD WINDING SPEED/TORQUE CURVE DATA FOR SIZING A SERVO MOTOR Nm = Maximum speed, continuous operation Np = Peak speed, acceleration/deceleration and intermittent duty Tcs = Continuous stall torque Tp = Peak torque All specifications subject to change without notice.

Np

Continuous Duty Zone

Nm

Intermittent Duty Zone Accel/Decel Zone

*All specifications are for reference only. Please consult the factory for certified dimension drawings. Standard Direction of Rotation: CCW rotation viewed from shaft end with red motor terminal positive with respect to black motor terminal.

Tcs

Tp

TORQUE

TORQUE PERFORMANCE CURVES

Motor MH2110 - WINDING: C
6000 5000 4000 3000 2000 1000 0 1 10 TORQUE (OZ-IN) .070 TORQUE (Newton-Meters) 100 6000 5000 4000 3000 2000 1000 0 1 10 100 TORQUE (OZ-IN) .070 0.70 TORQUE (Newton-Meters) 1000

Motor MH2115 - WINDING: C

6000 5000 4000 3000 2000 1000 0

Motor MH2120 - WINDING: D

6000 5000 4000 3000 2000 1000 0 1 10 100 TORQUE (OZ-IN) .070 0.70 TORQUE (Newton-Meters) 1000

Motor MH2130 - WINDING: B

SPEED (RPM)

SPEED (RPM)

SPEED (RPM)

SPEED (RPM)

10 100 TORQUE (OZ-IN) .070 0.70 TORQUE (Newton-Meters)

1000

.007

0.70

.007

7.06

.007

7.06

.007

7.06

TORQUE SPEED CURVES OF OTHER WINDINGS AVAILABLE, CONSULT FACTORY.

BRUSH

SERVO MOTORS

2100 S E R I E S
VOLTAGE EQUATION FOR MOTORS Volts = Where: KT x RPM + T x RA + VB 1,350 KT KT = torque constant, oz.-in. per amp T = load torque plus motor friction torque-oz.-in. RA = armature resistance + brush resistance VB = brush voltage drop = 2 volts Note: For armature resistance at maximum temperature rating, multiply catalog value of R by 1.5 MOTOR TORQUE RATING VS. SPEED
130 - RPM x TF - RPM2 x Fi TR = .94KT RTH 1,350 1,350,000 1.5 RA
1/2

ORDERING INFORMATION (For Standard Options)

21
SERIES LAM STACK 05 10 15 20 30 TACH 0 = None T = Tach

XX

XX XX

XX

X X X X
MTG PLATE A = 2 Round C = 2 1/4 Square (NEMA 23) M = Metric S = Special

X
WINDINGS MOTOR A THRU H

X
WINDINGS TACH (V/KRPM) 0 = None E=3 F=7 G = 15

SHAFT A = 3/8 dia. x 1 lg. B = A plus .02 x .80 lg. flat E = 1/4 dia. x .77 lg. (NEMA23) F = E plus .02 x .80 Long Flat S = Special

RPM x Fi - TF - 1000

Where:

COMMUTATION/MAGNET 00 = STD 01= 22 BAR ENCODER 00 = None M0 = Mod. Enc Prep M2 = Mod 500 line, 2 channel, marker, line driver M3 = Mod 1000 line, 2 channel, marker, line driver

TR = rated torque (25C ambient)-oz.-in. KT = torque sensitivity-oz.-in./amp RA = armature resistance RPM = revolutions per minute TF = static friction torque-oz.-in. Fi = viscous friction-oz.-in. RTH = thermal resistance To Find: Higher Torque Rating for Intermittent Duty Let A = Let B = total cycle time in seconds thermal time constant of motors in seconds on time in seconds per cycle thermal time constant of motor in seconds

TERMINATION T = Tab terminals (std) S = Screw terminals (optional) W= 3 foot long leads attached to tab terminals (optional) Y = 3 foot long leads w/cord grip (optional) SEALING 0 = No sealing

BRAKE 00 = No Brake B1 = 3 lb.-in., 24 VDC

then with TR = Rated torque for 100% duty and TMAX = Rated torque for intermittent duty -A 1/2 TMAX = TR x 1 - e-B 1-e

Customize The 2100 Series To Your Exact Requirements

To satisfy various applications with cost-effective solutions, 2100 Series motors are readily available with a wide range of standard capabilities. Final designs are often the result of cooperative efforts between the customers engineering department and CMC. For assistance, call your local CMC distributor or CMC direct. We look forward to meeting your custom requirements.

Ask About Other Motion Control Solutions & Capabilities From Torque Systems
Brushless TorqueMaster Servo Motors PowerMaster Amplifiers Shaft-mounted DataTorque Encoders Gearboxes/Brakes Expert application engineering Complete repair & refurbishing services

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02/02

3M

SMD-DS-2100